Hello JDMils,
As far as I am aware all current mainstream (and trusted) remote access tools will require a 2 way confirmation (either with pin, password, or just clicking on accept). This is logically because of security.
However you can check in their settings to change the behavior, for example in teamviewer the option in: Extras -> Options -> Advanced -> click Show Advanced options -> and scroll down to "Advanced settings for connections to other computers" and check if you have under Access Control set to: Confirm all, if you have so change it to Full Access and save the settings by clicking OK.
This should help you,
Best regards!